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README.md
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| 1 |
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---
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| 2 |
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license: apache-2.0
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| 3 |
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task_categories:
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| 4 |
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- robotics
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tags:
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- LeRobot
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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| 11 |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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It is a LeRobot v3.0 conversion of the [language_table_sim](https://www.tensorflow.org/datasets/catalog/language_table_sim) dataset
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from the [Language Table](https://github.com/google-research/language-table) project (Google Research).
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| 16 |
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The original RLDS data was streamed from `gs://gresearch/robotics/language_table_sim/0.0.1/`,
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| 18 |
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converted to LeRobot v2.0 format preserving all fields (action, state, effector target,
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reward, done, instruction), then restructured to v3.0 with lossless video concatenation.
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## Dataset Description
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| 22 |
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- **Homepage:** https://github.com/google-research/language-table
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- **Paper:** https://arxiv.org/abs/2210.10997
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| 25 |
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- **License:** apache-2.0
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| 26 |
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## Dataset Structure
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[meta/info.json](meta/info.json):
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```json
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{
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"codebase_version": "v3.0",
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| 33 |
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"robot_type": "xarm",
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| 34 |
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"total_episodes": 181020,
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| 35 |
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"total_frames": 4484403,
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| 36 |
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"total_tasks": 78627,
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| 37 |
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"chunks_size": 1000,
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| 38 |
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"fps": 10,
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| 39 |
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"splits": {
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| 40 |
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"train": "0:181020"
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| 41 |
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},
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| 42 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 43 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 44 |
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"features": {
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| 45 |
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"observation.images.rgb": {
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| 46 |
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"dtype": "video",
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| 47 |
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"shape": [
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| 48 |
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360,
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| 49 |
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640,
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| 50 |
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3
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| 51 |
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],
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| 52 |
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"names": [
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| 53 |
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"height",
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| 54 |
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"width",
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| 55 |
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"channels"
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| 56 |
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],
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| 57 |
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"video_info": {
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| 58 |
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"video.fps": 10.0,
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| 59 |
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"video.height": 360,
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| 60 |
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"video.width": 640,
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| 61 |
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"video.channels": 3,
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| 62 |
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"video.codec": "libx264",
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| 63 |
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"video.pix_fmt": "yuv420p",
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| 64 |
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"video.is_depth_map": false,
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| 65 |
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"has_audio": false
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| 66 |
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}
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| 67 |
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},
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| 68 |
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"observation.state": {
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| 69 |
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"dtype": "float32",
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| 70 |
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"shape": [
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| 71 |
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2
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| 72 |
+
],
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| 73 |
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"names": {
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| 74 |
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"motors": [
|
| 75 |
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"x",
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| 76 |
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"y"
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| 77 |
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]
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| 78 |
+
},
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| 79 |
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"fps": 10
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| 80 |
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},
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| 81 |
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"observation.effector_target_translation": {
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| 82 |
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"dtype": "float32",
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| 83 |
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"shape": [
|
| 84 |
+
2
|
| 85 |
+
],
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| 86 |
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"names": {
|
| 87 |
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"motors": [
|
| 88 |
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"x",
|
| 89 |
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"y"
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| 90 |
+
]
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| 91 |
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},
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| 92 |
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"fps": 10
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| 93 |
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},
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| 94 |
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"action": {
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| 95 |
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"dtype": "float32",
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| 96 |
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"shape": [
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| 97 |
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2
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| 98 |
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],
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| 99 |
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"names": {
|
| 100 |
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"motors": [
|
| 101 |
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"x",
|
| 102 |
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"y"
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| 103 |
+
]
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| 104 |
+
},
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| 105 |
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"fps": 10
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| 106 |
+
},
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| 107 |
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"next.reward": {
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| 108 |
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"dtype": "float32",
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| 109 |
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"shape": [
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| 110 |
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1
|
| 111 |
+
],
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| 112 |
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"names": null,
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| 113 |
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"fps": 10
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| 114 |
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},
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| 115 |
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"next.done": {
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| 116 |
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"dtype": "bool",
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| 117 |
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"shape": [
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| 118 |
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1
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| 119 |
+
],
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| 120 |
+
"names": null,
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| 121 |
+
"fps": 10
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| 122 |
+
},
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| 123 |
+
"timestamp": {
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| 124 |
+
"dtype": "float32",
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| 125 |
+
"shape": [
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| 126 |
+
1
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| 127 |
+
],
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| 128 |
+
"names": null,
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| 129 |
+
"fps": 10
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| 130 |
+
},
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| 131 |
+
"frame_index": {
|
| 132 |
+
"dtype": "int64",
|
| 133 |
+
"shape": [
|
| 134 |
+
1
|
| 135 |
+
],
|
| 136 |
+
"names": null,
|
| 137 |
+
"fps": 10
|
| 138 |
+
},
|
| 139 |
+
"episode_index": {
|
| 140 |
+
"dtype": "int64",
|
| 141 |
+
"shape": [
|
| 142 |
+
1
|
| 143 |
+
],
|
| 144 |
+
"names": null,
|
| 145 |
+
"fps": 10
|
| 146 |
+
},
|
| 147 |
+
"index": {
|
| 148 |
+
"dtype": "int64",
|
| 149 |
+
"shape": [
|
| 150 |
+
1
|
| 151 |
+
],
|
| 152 |
+
"names": null,
|
| 153 |
+
"fps": 10
|
| 154 |
+
},
|
| 155 |
+
"task_index": {
|
| 156 |
+
"dtype": "int64",
|
| 157 |
+
"shape": [
|
| 158 |
+
1
|
| 159 |
+
],
|
| 160 |
+
"names": null,
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| 161 |
+
"fps": 10
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| 162 |
+
}
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| 163 |
+
},
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| 164 |
+
"data_files_size_in_mb": 100,
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| 165 |
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"video_files_size_in_mb": 200
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| 166 |
+
}
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| 167 |
+
```
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